free space cost non zero
Update: The only thing I can see is that the scan data would be different. So I printed here two scan messages one from the simulated range scanner /scan topic and the other from the depthimage-to-scan /scan topic. There are significant difference but I am not sure how to interpret the implications or why they should be so different.
header:
seq: 3580
stamp:
secs: 161
nsecs: 358000000
frame_id: hokuyo_frame
angle_min: -1.57000005245
angle_max: 1.57000005245
angle_increment: 0.00436717644334
time_increment: 0.0
scan_time: 0.0
range_min: 0.10000000149
range_max: 30.0
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---
The kinetic simulated scan is as follows.
header:
seq: 111
stamp:
secs: 14
nsecs: 224000000
frame_id: /hokuyo_frame
angle_min: -0.69628059864
angle_max: 0.698745191097
angle_increment: 0.00174378219526
time_increment: 0.0
scan_time: 0.0329999998212
range_min: 0.00999999977648
range_max: 10.0
ranges: [nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, 2.9409444332122803, 2.918403387069702, 2.896169662475586, 2.8708059787750244, 2.8659157752990723, 2.8610401153564453, 2.856177806854248, 2.8513293266296387, 2.8464949131011963, 2.836867332458496, 2.8320741653442383, 2.8272948265075684, 2.8225293159484863, 2.817776679992676, 2.8159914016723633, 2.814620018005371, 2.8118937015533447, 2.8105387687683105, 2.8091893196105957, 2.8078453540802, 2.806507110595703, 2.8051743507385254, 2.803847312927246, 2.802525758743286, 2.7998995780944824, 2.7985949516296387, 2.7972962856292725, 2.7960033416748047, 2.7947163581848145, 2.7947142124176025, 2.795804500579834, 2.7969045639038086, 2.7980146408081055, 2.7991347312927246, 2.800264596939087, 2.8025548458099365, 2.803715467453003, 2.8048861026763916, 2.8060669898986816, 2.807258367538452, 2.808459997177124, 2.8096725940704346, 2.8108952045440674, 2.812128782272339, 2.8133723735809326, 2.816354990005493, 2.8210110664367676, 2.825698137283325, 2.8351666927337646, 2.8399486541748047, 2.8447628021240234, 2.849609613418579, 2.8544890880584717, 2.8594014644622803, 2.864347219467163, 2.8693249225616455, 2.885042667388916, 2.9051032066345215, 2.925487518310547, 2.946211576461792, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan]
intensities: []
---
Update: This is a gazebo simulation. I put my laser plugin back and commented out the "depthimagetolaserscan" node. Now my map in rivz looks like the following and the cost no longer block the robot movement. The only thing that can be causing this is the kinetic plugin. Any ideas why this def should cause the free space cost to act differently.
Here is my kinetic sensor definition.
<sensor name='camera1' type='depth'>
<visualize>1</visualize>
<pose>-0.1 0 0.2 0 0 0</pose>
<camera name='head'>
<horizontal_fov>1.39626</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<save enabled='0'>
<path>/tmp</path>
</save>
<depth_camera>
<output>depthImage</output>
</depth_camera>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name='plugin_1' filename='libgazebo_ros_openni_kinect.so'>
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>10.0</updateRate>
<pointCloudCutoff>0.5</pointCloudCutoff>
<cameraName>camera1</cameraName>
<frameName>camera_frame</frameName>
<imageTopicName>/image_raw</imageTopicName>
<cameraInfoTopicName>/camera_info</cameraInfoTopicName>
<depthImageTopicName>/depth/image_raw</depthImageTopicName>
<depthImageCameraInfoTopicName>/camera_info</depthImageCameraInfoTopicName>
<pointCloudTopicName>/depth/points</pointCloudTopicName>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
I switch form using a laser to kinetic depth-to-laser node. Now my free space cost seems to not be free. I have not tried switching back yet. Parameters are set as follows.
track_unknown_space: true
unknown_cost_value: 0
Asked by rnunziata on 2013-12-30 09:57:25 UTC
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